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WO2018150313A1 - Dispositif aérien et procédé de commande du dispositif aérien - Google Patents

Dispositif aérien et procédé de commande du dispositif aérien Download PDF

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Publication number
WO2018150313A1
WO2018150313A1 PCT/IB2018/050854 IB2018050854W WO2018150313A1 WO 2018150313 A1 WO2018150313 A1 WO 2018150313A1 IB 2018050854 W IB2018050854 W IB 2018050854W WO 2018150313 A1 WO2018150313 A1 WO 2018150313A1
Authority
WO
WIPO (PCT)
Prior art keywords
aerial device
haptic
gimbal
sensor
orientation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2018/050854
Other languages
English (en)
Inventor
Zheng QU
Pengxiang Jin
Tong Zhang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Zero Zero Technology Co Ltd
Original Assignee
Hangzhou Zero Zero Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Zero Zero Technology Co Ltd filed Critical Hangzhou Zero Zero Technology Co Ltd
Priority to CN201880018790.2A priority Critical patent/CN110431505B/zh
Publication of WO2018150313A1 publication Critical patent/WO2018150313A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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    • G06F1/1694—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being a single or a set of motion sensors for pointer control or gesture input obtained by sensing movements of the portable computer
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    • G06F1/3262—Power saving in digitizer or tablet
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    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
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    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/048—Indexing scheme relating to G06F3/048
    • G06F2203/04808—Several contacts: gestures triggering a specific function, e.g. scrolling, zooming, right-click, when the user establishes several contacts with the surface simultaneously; e.g. using several fingers or a combination of fingers and pen

Definitions

  • the subject application relates generally to an aerial device and to a method for controlling an aerial device.
  • Unmanned aerial devices are aerial devices, aerial vehicles, or drones without a human operator or pilot aboard. Such aerial devices have multiple degrees of freedom, including translational motion (such as longitudinal, lateral, and vertical) and rotational motion (such as pitch, roll, and yaw). Translational motion typically changes the position of the aerial device, and rotational motion typically changes the orientation of a multi-degree gimbal carried by the aerial device. For aerial devices lifted or propelled using four rotors, which are often referred to as quadrotors, two rotational motions are coupled with two translational motions (such as pitch- longitudinal motion, roll-lateral motion, etc.). This results in a total of four degrees of freedom, such as pitch-longitudinal, roll-lateral, vertical, and yaw.
  • translational motion such as longitudinal, lateral, and vertical
  • rotational motion such as pitch, roll, and yaw
  • the position of the aerial device and/or the orientation of gimbal is typically controlled remotely, such as with a remote controller, a mobile computing device, a smartphone, a tablet computer, and/or other suitable hand- held device.
  • the hand-held device has a plurality of buttons that, when actuated, controls the movement of the aerial device.
  • the remote device may have a control interface including two directional buttons (such as positive and negative buttons) for each of the four degree of freedom movements, amounting to eight total directional buttons.
  • the control interface may include additional buttons for controlling the orientation of the camera.
  • An aerial device comprises a body, a lift mechanism coupled to the body and configured to provide at least one of lift and thrust to the body, an optical system coupled to the body and having a camera, a gimbal supporting and enabling rotational movement of the camera, a haptic sensor coupled to the body and configured to generate haptic data, and a processing system disposed in said body and in data communication with said haptic sensor.
  • the processing system is configured to: process said haptic data received from the haptic sensor to understand at least one of an intended position of said aerial device and an intended orientation of said gimbal; and convert said at least one of said intended position of said aerial device and said intended orientation of said gimbal to at least one of a target position of the aerial device and a target orientation of the gimbal utilizing said processed data irrespective of an initial position of said aerial device and an initial orientation of said gimbal.
  • a method for controlling an aerial device has a body, an optical system coupled to the body and having a camera, a gimbal supporting the camera, a haptic sensor coupled to the body, and a processing system disposed in the body and in data communication with the haptic sensor.
  • the aerial device has an initial position and the gimbal has an initial orientation.
  • the method comprises the steps of: activating the haptic sensor coupled to the body to generate haptic data; processing, by the processing system, the haptic data received from the haptic sensor to understand at least one of an intended position of the aerial device and an intended orientation of the gimbal; converting, by the processing system, the at least one of the intended position of the aerial device and the intended orientation of the gimbal to at least one of a target position of the aerial device and a target orientation of the gimbal utilizing the processed data irrespective of the initial position of the aerial device and the initial orientation of the gimbal; and moving at least one of the aerial device from the initial position to the target position and the gimbal from the initial orientation to the target orientation.
  • Figure 1 is a schematic representation of an aerial system including an aerial device according to an embodiment of the present disclosure.
  • Figure 2 is a schematic representation of the aerial device according to an embodiment of the present disclosure.
  • Figure 3 is a front perspective view of the aerial device including a schematic representation of internal components of the aerial device.
  • Figure 4 is a schematic front perspective view of a portion of the aerial device with a plurality of touch sensors according to an embodiment of the present disclosure.
  • Figure 5 is a schematic front perspective view of a portion of the aerial device with a plurality of touch screens according to another embodiment of the present disclosure.
  • Figure 6 is a flow diagram illustrating a method for controlling the aerial device.
  • Figure 7 is a flow diagram illustrating a method for controlling the aerial device and/or the gimbal including at least one touch sensor.
  • Figure 8 is a schematic front perspective view of a portion of the aerial device illustrating a method for controlling a position of the aerial device utilizing touch sensor coupled to the body of the aerial device.
  • Figure 9 is a schematic front perspective view of a portion of the aerial device illustrating a method for controlling an orientation of the gimbal utilizing a touch sensor mounted to a housing for supporting an optical system of the aerial device.
  • Figure 10 is a flow diagram illustrating a method for controlling a position of the aerial device utilizing a touch screen coupled to the body of the aerial device.
  • Figure 11 is a schematic front perspective view of a portion of the aerial device illustrating a method for controlling lateral and longitudinal position of the aerial device utilizing the touch screen mounted to the body of the aerial device.
  • Figure 12 is a schematic front perspective view of a portion of the aerial device illustrating a method for controlling a vertical position of the aerial device utilizing the touch screen mounted to the body of the aerial device.
  • Figure 13 is a schematic front perspective view of a portion of the aerial device illustrating a method for controlling an orientation of the gimbal utilizing the touch screen mounted to a housing for supporting an optical system of the aerial device.
  • the aerial device 12 is an unmanned aerial vehicle (UAV), drone, or other aerial device without a human operator or pilot aboard.
  • the aerial device 12 may be a rotorcraft (such as a quadcopter, a helicopter, and a cyclocopter), a fixed-wing aircraft, an aerostat, or other suitable aircraft or device configured to fly within a physical space.
  • the aerial device 12 may be configured to capture images (such as photographs and/or video), audio, or other data from the physical space.
  • the aerial device 12 may be used for a variety of purposes, such as to perform surveillance for industry, for monitoring weather conditions, for border patrols, for military operations, etc.
  • the aerial device 12 may also be used purely for recreation.
  • the aerial device 12 is part of an aerial system 10, as schematically shown in Figure 1.
  • the aerial system 10 includes the aerial device 12 and a remote device 14 having a control client 16 with a user interface 18 for enabling an operator 22 to control certain operations of the aerial device 12.
  • the control client 16 may be a native application (e.g., a mobile application), a browser application, an operating system application, or other suitable application resident on a processing system of the remote device 14. Other operations of the aerial device 12 may be controlled utilizing a control interface 20 on the aerial device 12 itself.
  • the control interface 20 provides a control platform on the aerial device 12 enabling the operator 22 to control certain or selected operations of the aerial device 12 without direct or physical interaction with the remote device 14.
  • the aerial device 12 could be controlled without using any remote device 14.
  • all operations of the aerial device 12 could be controlled using the control interface 20 on the aerial device 12 itself.
  • a remote device could be used for receiving data from the aerial device 12, such as images and/or video relayed from the aerial device 12 to the remote device, and not for controlling operations of the aerial device 12.
  • the aerial device 12 has a body or fuselage 24.
  • the body 24 may be any support structure that suitably protects and/or retains internal components of the aerial device 12, such as a processing system 26, a communication system 28, a power supply 30, etc. which are disposed at least partially inside the body 24.
  • the body 24 may also be any support structure that suitably supports external components of the aerial device 12, such as the control interface 20, haptic sensors 32, a gimbal housing 46, etc. which are mounted to an exterior surface 25 of the body 24.
  • the body 24 may have any suitable configuration, size, and/or geometry.
  • the body 24 may also have a platform and/or other suitable additional support structure for carrying or supporting one or more of the internal components of the aerial device 12.
  • the body 24 is thermally conductive and functions as an auxiliary heat sink.
  • the body 24 may be formed from any suitable material, non-limiting examples of which include carbon fibers, carbon composites, metals, metal alloys, plastics, ceramics, and/or combinations thereof.
  • the aerial device 12 further has at least one frame or cage 34 coupled to or disposed at least partially around the body 24.
  • the aerial device 12 has two frames 34, with one of the frames 34 coupled to one side of the body 24 and another one of the frames 34 coupled to the other side of the body 24.
  • the frame(s) 34 is configured to house rotors 38 of a lift mechanism 36.
  • the frame(s) 34 also functions as an intermediary component between the rotors 38 and some type of retention mechanism, such as the operator's hand, when the device 12 is being held or supported.
  • the aerial device 12 further has the lift mechanism 36 coupled to the body 24 and configured to provide at least one of lift and thrust to the body 12.
  • the lift mechanism 36 operates to enable the aerial device 12 to fly.
  • the lift mechanism 36 may also be configured to cool the internal aerial device components (such as the processing system 26, etc.), the interior of the body 24, etc.
  • the lift mechanism 36 includes at least one rotor 38.
  • the lift mechanism 36 includes a set of rotors 38 that operate individually or collectively. Each of the rotors 38 may be driven by a motor (such as an electric motor), a jet engine, a propeller, or any other suitable force-generation device or mechanism.
  • the motors are powered by the power supply 30 and are typically controlled by the processing system 26.
  • the rotors 38 of the lift mechanism 36 operate individually or collectively to enable aerial device 12 flight. It is to be appreciated that the aerial device 12 could also include any other suitable flight components that operate to enable or assist aerial device 12 flight.
  • the aerial device 12 has four rotors 38, with each rotor 38 arranged adjacent a respective corner of the body 24. An example of this is shown in Figure 3.
  • the rotors 38 may be positioned at any desirable location relative to the body 24.
  • the aerial device 12 could have any number of rotors 38, such as one rotor, two rotors, three rotors, etc.
  • the processing system 26 is disposed in the body 24 of the aerial device 12 and connected to the active components of the aerial device 12.
  • the processing system 26 includes one or more processors 40 configured to execute one or more software programs for controlling the aerial device 12.
  • the processing system 26 receives operation instructions (such as from the communication system 28 and/or other active components of the aerial device 12), converts the operation instructions into machine instructions, and controls the aerial device 12 based on the machine instructions (individually or as a set).
  • the processing system 26 may additionally or alternatively process images recorded by an optical system 42 coupled to the body 24, stream images to the remote device 14 in real time or near real time, and/or perform any other suitable functionality.
  • the processor(s) 40 of the processing system 26 may be a CPU, GPU, and/or the like, and may include a memory (such as a Flash memory, RAM, etc.) and/or any other suitable processing component.
  • the processing system 26 also includes dedicated hardware that automatically processes images obtained from the optical system 42 (such as de- warping the image, filtering the image, cropping the image, etc.) prior to transmission to the remote device 14. Further details of the optical system 42 are described below.
  • the communication system 28 is also disposed in the body 24 and operates to send and/or receive information (data) to/from the remote device 14.
  • the communication system 28 is connected to the processing system 26, such that the communication system 28 sends data to the processing system 26 and/or receives data from the processing system 26.
  • the communication system 28 may be a wired or a wireless communication system.
  • the communication system 28 may a long-range communication system, a short-range communication system, or any other suitable communication module.
  • Non-limiting examples of suitable communications systems 28 include 802.1 lx, Wi-Fi, Wi-Max, NFC, RFID, Bluetooth, ZigBee, cellular telecommunications (e.g., 2G, 3G, 4G, LTE, etc.), radio (RF), USB, and/or other suitable communication modules or systems.
  • the communication system 28 also typically shares at least one system protocol (such as BLE, RF, etc.) with the remote device 14.
  • the communication system 28 may communicate with the remote device 14 via an intermediary communication system (such as a protocol translation system).
  • the aerial device 100 further has the power supply 30 disposed within or mounted to the body 24.
  • the power supply 30 operates to supply power, either directly or indirectly, to all of the active components (such as the lift mechanism 36, the processing system 26, the optical system 42, etc.) of the aerial device 12.
  • the power supply 30 may be mounted within the body 24 and connected to the active components, or may be otherwise arranged.
  • suitable power supplies include rechargeable batteries, primary batteries, secondary batteries, fuel cells, external power supplies (such as a RF charger, induction charger, etc.), an energy harvesting system (such as a solar energy system), and/or the like.
  • the aerial device 12 further includes the optical system 42 coupled to the body 24 and configured to record images of the physical space proximal the aerial device 42.
  • the optical system 42 includes at least one camera 44 and other optical system components for supporting and/or assisting with the functionality of the camera 44.
  • the optical system 44 may be a single lens camera (such as a CCD camera, CMOS camera, etc.), a stereo-camera, a hyperspectral camera, a multispectral camera, or any other suitable imaging or optical device or sensor.
  • the optical system 42 may be active (e.g., controlled by the processing system 26) or passive (e.g., controlled by a set of weights, spring elements, magnetic elements, etc.).
  • the optical system 42 may include additional components configured to translate the camera 44 along one or more axes relative to the body 24 and/or to actuate the camera 44.
  • the aerial device 12 further includes a gimbal 48 supporting the camera 44.
  • the gimbal 48 may be a platform or other support that can pivot to enable rotation of the camera 44 about at least one axis (such a roll, pitch, and yaw).
  • the gimbal 48 may include an actuator, such as a brushless motor, for actuating movement of the gimbal 48.
  • the aerial device 12 further includes the housing 46 for supporting the optical system 42 and the gimbal 48.
  • the housing 46 is coupled to the body 24, and the optical system 42 (which includes the camera 44 and possibly other optical system components) and the gimbal 48 are disposed in the housing 46.
  • the aerial device 12 further has a self-stabilizing feature or application executable by the processing system 26.
  • the self-stabilizing feature instructs certain components of the device 12 to operate in a particular fashion in order to keep the aerial device 12 at a particular position and/or the gimbal 46 at a particular orientation. This is useful, for example, when the device 12 is subjected to an external disturbance, such as wind, etc.
  • the self-stabilizing feature instructs the rotors 38 to operate in a particular fashion so that the aerial device 12 can go to and stay at a target position and/or the gimbal 48 can rotate to and stay at a target orientation specified by the operator 22.
  • the aerial device 12 further includes the haptic sensor(s) 32 coupled to the exterior surface 25 of the body 24.
  • the aerial device 12 include at least one haptic sensor 32 coupled to the body 24.
  • the aerial device 12 includes two haptic sensors 32 coupled to the body 24.
  • One of the haptic sensors 32 may be mounted to the body 24 of the aerial device 12, and the other one of the haptic sensors 32 may be mounted to the housing 46 of the optical system 42.
  • the one haptic sensor 32 may be mounted at any desirable location on the body 24, and the other haptic sensor 32 may be mounted at any desirable location on the housing 46.
  • the one haptic sensor 32 is mounted to the top of the body 24, and the other haptic sensor 32 is mounted to a side of the housing 46. It is to be appreciated that the haptic sensors 32 can be located at any desirable location on the body 24 and the housing 46, typically wherever the haptic sensors 32 are most accessible to the operator 22. In addition, the haptic sensors 32 may be mounted to the body 24 and the housing 46 by any suitable means.
  • the haptic sensors 32 are configured to generate haptic data. As described in further detail below, the haptic data is used by the processing system 26 to understand at least one of an intended position of the aerial device 12 and an intended orientation of the gimbal 48, and to convert the intended position and/or intended orientation into a target position of the aerial device 12 and/or a target orientation of the gimbal 48. The processing system 26 performs the converting step irrespective of the initial position of the aerial device 12 and the initial orientation of the gimbal 48.
  • the haptic sensor 32 is selected from a touch sensor and a touch screen.
  • one or more of the haptic sensors 32A is a touch sensor, which is an input device that suitably captures and records a single physical touch, such as a touch provided by the operator's finger 22.
  • the touch sensor 32A suitably captures and records a single finger touch.
  • the touch sensor 32A may respond similarly or differently to different types of touches, such as tapping, pressing, etc.
  • the touch sensor 32A may also respond similarly or differently to different pressures of touch.
  • the touch sensor 32A does not have a gesture recognition.
  • one or more of the haptic sensors 32B is a touch screen, which is any suitable display screen that enables the operator 22 to interact directly with the image(s) being displayed. Direct interaction may include touching the touch screen 32B with the operator's finger, typically without the use of an intermediate device. In some instances, direct interaction may be accomplished using a stylus. In an embodiment, the touch screen 32B has gesture recognition.
  • the aerial system 12 may also include additional sensors 33 for recording signals indicative of aerial device operation, the ambient environment surrounding the aerial device 12, and/or other parameters.
  • the additional sensors 33 are typically mounted to the body 24, powered by the power supply 30, and controlled by the processing system 26.
  • Non-limiting examples of additional sensors 33 include additional cameras, orientation sensors, accelerometers, gyroscopes, audio sensors, barometers, light sensors, temperature sensors, current sensors, air flow meters, voltmeters, touch sensors, proximity sensors, force sensors, vibration sensors, chemical sensors, sonar sensors, locations sensors, and/or the like.
  • the method comprises the steps of activating the haptic sensor 32 coupled to the body 24 to generate haptic data (method step 100); processing, by the processing system 26, the haptic data received from the haptic sensor to understand at least one of an intended position of the aerial device 12 and an intended orientation of the gimbal 48 (method step 102); converting, by the processing system 26, at least one of the intended position of the aerial device
  • the method is typically performed while aerial device 12 is in operation.
  • the aerial device 12 Prior to performing the method, the aerial device 12 has an initial position (longitudinal, lateral, and vertical) and the gimbal 48 has an initial orientation (pitch, roll, and yaw).
  • the initial position may be any position of the aerial device 12 and the initial orientation may be any orientation of the gimbal 48 while the aerial device 12 is in operation (such as hovering at a specific location in the physical space) when the method begins.
  • the aerial device 12 has at least one haptic sensor 32.
  • the haptic sensor(s) 32 is a touch sensor 32A. Details of the method utilizing the aerial device 12 having touch sensors 32A are described below with reference to Figures 7-9. As shown in Figure 7, the method includes determining the initial position of the aerial device 12 and the initial orientation of the gimbal 48 (method step 200). Once the initial position and initial orientation have been determined, the processing system 26 determines if the touch sensor
  • Activating the touch sensor 32A includes activating the touch sensor 32A with a fmger touch. In other words, the touch sensor 32A may be activated by touching the touch sensor 32A with the operator's fmger. If the processing system 26 determines that the touch sensor 32A has not been activated, then the processing system 26 controls the aerial 12 to keep the device 12 in its initial position and controls the gimbal 48 to keep the gimbal 48 in its initial orientation (method step 204) and the method ends (method step
  • the method includes deactivating self-stabilization of the aerial device 12 and the gimbal 48 (method step 208).
  • self-stabilization is deactivated, the processing system 26 activates a hold adjustment feature to, for example, allow the operator 22 to grasp and hold the aerial device 12 in his/her hand(s) without reactive motion caused by self-stabilization of the device 12.
  • the activating step includes activating the touch sensor 32A with a single finger touch.
  • the term single finger touch describes the act of placing the operator's finger on the touch sensor 32A at one spot or location on the touch sensor 32A. With a single finger touch, the operator's finger remains in one spot and does not move around the surface of the sensor 32A. While maintaining the single finger touch on the touch sensor 32A, the operator 22 moves the aerial device 12 from the initial position to the target position and/or moves the gimbal 48 from the initial orientation to the target orientation.
  • the operator 22 moves the aerial device 12 to any desired location (such as longitudinally, laterally, and/or vertically) within the physical space.
  • any desired location such as longitudinally, laterally, and/or vertically
  • Movement within the physical space typically occurs within the operator's reach.
  • the location that the operator 22 moves the aerial device 12 to is the target position of the aerial device 12.
  • the touch sensor 32A generates haptic data including geographic location data of the device 12 and transmits the haptic data (via the communication system 28) to the processing system 26.
  • the processing system 26 utilizing one or more suitable software programs, processes the haptic data (geographic or coordinate location or position data) generated as the operator is moving the device 12 until the operator stops moving the device 12 to understand the operator's intended position of the device 12.
  • the processing system 26 converts the intended position of the device 12 into the target position utilizing the processed data (method step 210 shown in Figure 7).
  • the processing system 26 utilizing one or more suitable software programs, processes the haptic data generated as the operator is rotating the housing 46 until the operator stops rotating the housing 46 to understand the operator's intended orientation of the gimbal 48 (method step 210 in Figure 7).
  • the processing system 26 converts the intended orientation of the gimbal 48 into the target orientation utilizing the processed data (method step 212 shown in Figure 7).
  • the processing system 26 converts the intended position into the target position of the aerial device 12 and the intended orientation to the target orientation of the gimbal 48 irrespective of the initial position and initial orientation. In this way, the processing system 26 can determine the target position of the device 12 and the target orientation of the gimbal 48 without requiring any initial position and initial orientation data.
  • the method further includes the step of deactivating the touch sensor 32A by removing the single finger touch from the touch sensor 32A after the moving step (method step 214). For example, once the aerial device 12 has been moved to the target position and/or the gimbal 48 has been rotated to the target orientation, the operator 22 removes his/her finger from the touch sensor 32A. Upon removing the operator's finger from the touch sensor 32A, the device 12 remains at the target position and/or target orientation. Also upon removing the operator's finger from the touch sensor 32A, the method includes reactivating self- stabilization of the device 12 to enable the operator 22 to remove his/her grasp on and let go of the device 12. The aerial device 12 then automatically hovers within the physical space at the target position and the gimbal 48 orientated at the target orientation (method step 216). The method ends at step 218.
  • the haptic sensor(s) 32 coupled to the body 24 of the aerial device 12 is a touch screen 32B. Details of the method utilizing the aerial device 12 having touch screens 32B are described below with reference to Figures 10-13. As shown in Figure 10, the method includes determining the initial position of the aerial device 12 and the initial orientation of the gimbal 48 (method step 300). Once the initial position and the initial orientation have been determined, the processing system 26 determines if the touch screen 32B has been activated (method step 302). Activating the touch screen 32B includes activating the touch screen 32B with a finger swipe. In other words, the touch screen 32B may be activated by a finger swipe on the touch screen 32B with the operator's finger.
  • the processing system 26 determines that the touch screen 32B has not been activated, then the processing system 26 controls the aerial device 12 to keep the device 12 in its initial position and controls the gimbal 48 to keep the gimbal 48 in its initial orientation (method step 304) and the method ends (method step 306). If the processing system 26 determines that the touch screen 32B has been activated, then the method includes deactivating self-stabilization of the aerial device 12 and the gimbal 48 (method step 308). When self-stabilization is deactivated, the processing system 26 activates a hold adjustment feature to, for example, allow the operator 22 to grasp and hold the aerial device 12 in his/her hand(s) without reactive motion caused by self-stabilization of the device 12.
  • the activating step includes activating the touch screen 32B with the fmger swipe.
  • finger swipe describes the act of dragging or swiping at least one of the operator's fingers on, along, and/or across the touch screen 32B in a predetermined swipe path and/or swipe direction.
  • the operator's fmger(s) touches the touch screen 32B in multiple locations.
  • the fmger swipe is a plurality of fmger touches on the touch screen 32B including an initial touch followed by multiple touches at different locations on the touch screen 32B.
  • the plurality of touches typically specify a swipe path and/or swipe direction.
  • the method includes generating haptic data, by the touch screen 32B, representative of the swipe direction (method step 310 shown in Figure 10).
  • lateral and/or longitudinal adjustment or control of the aerial device 12 may be accomplished utilizing haptic data generated from a fmger swipe in a swipe direction from just one of the operator's fingers.
  • vertical adjustment or control of the aerial device 12 may be accomplished utilizing haptic data generated from a fmger swipe in a swipe direction from two of the operator's fingers at the same time. This is essentially two fmger swipes generated simultaneously.
  • the touch screen 32B transmits (via the communications system 28) the haptic data to the processing system 26.
  • the processing system 26 processes the data to understand the operator's intended position of the aerial device 12 (method step 312).
  • the processing system 26 translates the swipe direction into a position difference in position coordinates.
  • the position difference is typically proportional to the length of the finger swipe across the touch screen 32B.
  • the processing system In another embodiment, utilizing one or more suitable software programs, the processing system
  • the processing system 26 converts the intended position into the target position of the device 12
  • the processing 26 converts the position difference determined from the swipe direction into a local coordinate using the initial position of the aerial device 12 and a classic coordinate calculation or transformation software program.
  • the processing system
  • 26 adds the coordinate of the position difference to the coordinate of the initial position of the aerial device 12 to convert the intended position into the target position of the device 12.
  • the orientation of the gimbal 48 may be controlled utilizing haptic data representative of a swipe direction generated by two of the operator's fingers, with one fmger pivoting on the touch screen 32B while the other finger rotates on the touch screen 32B. This is shown in Figure
  • the method of controlling the orientation of the gimbal 48 is accomplished similarly to the method of controlling the position of the device 12 described above.
  • the operator 22 grasps the device 12 and activates the touch screen 32B by touching the touch screen 32B with the fmger swipe described above.
  • the touch screen 32B transmits (via the communications system 28) the haptic data to the processing system 26.
  • the processing system 26 processes the data to understand the operator's intended orientation of the gimbal 48.
  • the processing system 26 translates the swipe direction into an orientation difference in gimbal coordinates.
  • the orientation difference is typically proportional to the length of the finger swipe across the touch screen 32B.
  • the processing system 26 translates the swipe direction into a short swipe (where the swipe distance is shorter than a preset threshold distance) as a short gimbal rotation command, and a long swipe (where the swipe distance is longer than a preset threshold distance) as a long gimbal rotation command.
  • the processing system 26 converts the intended orientation into the target orientation of the gimbal 48.
  • the processing 26 converts the orientation difference into a local coordinate using the initial orientation of the gimbal 48 and a classic coordinate transformation software program.
  • the processing system 26 adds the coordinate of the orientation difference to the coordinate of the initial orientation of the gimbal 48 to determine the target orientation of the gimbal 48 (method step 314).
  • the orientation of the gimbal 48 may be controlled by directly rotating the gimbal 48 by the operator to a desired angular position, and holding the gimbal 48 at the new angular position for a period of time.
  • the processing system 26, utilizing suitable software program(s), understands the new position of the gimbal 48 and sets this position as a new control set point.
  • the method includes reactivating the self-stabilizing feature of the device 12 (method step 316) and activates the lift mechanism 36 to effect movement of the device 12 to move the device 12 to the target position and/or the gimbal 48 to move the gimbal 48 to the target orientation (method step 316) and activates the lift mechanism 36 to effect movement of the device 12 to move the device 12 to the target position and/or the gimbal 48 to move the gimbal 48 to the target orientation (method step 316) and activates the lift mechanism 36 to effect movement of the device 12 to move the device 12 to the target position and/or the gimbal 48 to move the gimbal 48 to the target orientation (method step 316) and activates the lift mechanism 36 to effect movement of the device 12 to move the device 12 to the target position and/or the gimbal 48 to move the gimbal 48 to the target orientation (method step 316) and activates the lift mechanism 36 to effect movement of the device 12 to move the device 12 to the target position and/or the gimbal
  • the aerial device 12 automatically hovers within the physical space at the target position and/or with the target orientation of the gimbal 48 and the method ends (method step 320).
  • the aerial device 12 has two haptic sensors 32 with one mounted to the body 24 and the other mounted to the housing 46.
  • the position and orientation may be controlled independently, such as by activating the haptic sensor 32 mounted to the body 24 for controlling the position of the device 12 or by activating the haptic sensor 32 mounted to the housing 46 for controlling the orientation of the gimbal 48.
  • both of the haptic sensors 32 may be activated to control both the position and the orientation.
  • the operator 22 can activate the haptic sensor 32 mounted to the body 24 to control the position of the device 12 and the haptic sensor 32 mounted to the housing 46 to control the orientation of the gimbal 48 sequentially or substantially simultaneously.
  • the embodiments of the device 12 have been described above as having two touch sensors 32A or two touch screens 32B.
  • the device 12 could have one touch sensor 32A and one touch screen 32B.
  • the operator 22 can control the position (or orientation) by activating the touch sensor 32A and moving the body 24 (or gimbal 48) and can control the orientation (or position) by activating the touch screen 32B.
  • Other arrangements or combinations of haptic sensors 32 are also contemplated herein.
  • the embodiments of the aerial device 12 is button-free and advantageously allows an operator to easily and effectively control the aerial device 12 and/or the gimbal 48 without having to actuate multiple buttons on the remote device 14 at substantially the same time.
  • Use of the haptic sensors 32 allows the operator to control the device 12 without having to worry about how the device 12 is currently positions/orientated, as actuation of the haptic sensor does not change or reverse based on the initial or current position of the device 12.
  • the invention has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. It is now apparent to those skilled in the art that many modifications and variations of the present invention are possible in light of the above teachings. It is, therefore, to be understood that the invention may be practiced otherwise than as specifically described.

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Abstract

L'invention concerne un dispositif aérien qui comprend un corps, un système optique ayant un cardan supportant un appareil de prise de vues, un mécanisme de levage accouplé au corps, un capteur haptique couplé au corps et conçu pour générer des données haptiques, et un système de traitement disposé dans le corps et en communication de données avec le capteur haptique. Le système de traitement est conçu pour traiter les données haptiques pour comprendre une position prévue du dispositif aérien et/ou une orientation prévue du cardan et convertir la position prévue en une position cible du dispositif aérien et/ou l'orientation prévue en une orientation cible du cardan en utilisant lesdites données traitées indépendamment d'une position initiale dudit dispositif aérien et d'une orientation initiale dudit cardan. L'invention concerne également un procédé pour commander le dispositif aérien.
PCT/IB2018/050854 2017-02-14 2018-02-12 Dispositif aérien et procédé de commande du dispositif aérien Ceased WO2018150313A1 (fr)

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US10067504B1 (en) 2018-09-04
US20210240180A1 (en) 2021-08-05
US20190033854A1 (en) 2019-01-31
CN110431505B (zh) 2022-03-29
US11003181B2 (en) 2021-05-11
US20180231970A1 (en) 2018-08-16

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